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On Improving the Clearance for Robots in High-Dimensional Configuration Spaces

On Improving the Clearance for Robots in High-Dimensional Configuration Spaces. Roland Geraerts and Mark Overmars IROS 2005. Outline. Related work Retraction algorithm Algorithmic details Experiments Conclusions. d. d. Related Work. Preprocessing techniques

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On Improving the Clearance for Robots in High-Dimensional Configuration Spaces

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  1. On Improving the Clearance for Robots in High-Dimensional Configuration Spaces Roland Geraerts and Mark Overmars IROS 2005

  2. Outline • Related work • Retraction algorithm • Algorithmic details • Experiments • Conclusions

  3. d d Related Work • Preprocessing techniques • Extract path from graph with cycles • Create path along the medial axis • Post processing technique • Retract path to the medial axis (MA)

  4. Related Work • Preprocessing techniques • Extract path from graph with cycles • Create path along the medial axis • Post processing technique • Retract path to the medial axis (MA)

  5. Initial path Retraction to MA Retraction to ridges Related Work • Preprocessing techniques • Extract path from graph with cycles • Create path along the medial axis • Post processing technique • Retract path to the medial axis (MA)

  6. Retraction Algorithm

  7. Algorithmic Details – Metric

  8. Algorithmic Details – Vector

  9. maximum step size Algorithmic Details – Validate

  10. planar (2 dofs) manipulator (6 dofs) hole (6 dofs) Experimental Setup • Pentium 4 (2.66GHz) • Comparison of retraction techniques • Workspace (1 run) • Configuration space (100 runs) • Environments / paths

  11. initial paths C-space workspace n.a. Experimental Results Clearance

  12. Conclusions • Clearance along paths is improved • No complicated data structures are needed • The algorithm can handle robots with an arbitrary amount of DOFs • Running times are too high for online usage • Does not matter for high-cost environments • Smarter implementation decreased the running times by an order of magnitude

  13. Reachability roadmap Retracted roadmap Current Work • Retraction of a roadmap yields online performance

  14. Current Work • Retraction of a roadmap yields online performance Reachability roadmap Retracted roadmap

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